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AP_GPS: added GPS_DRV_OPTIONS 

this allows for configuration of moving baseline with either uart1 or
uart2 for the RTCM data. Using uart2 requires an extra cable between
the two modules, but requires less uart bandwidth which is good when
DMA channels are low. Using uart2 also avoids the rtcmv3 parser, which
saves memory
zr-v5.1
Andrew Tridgell 5 years ago
parent
9a6de209ab
commit
7027eecd34
5 changed files with 100 additions and 69 deletions
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  1. 9
      libraries/AP_GPS/AP_GPS.cpp
  2. 1
      libraries/AP_GPS/AP_GPS.h
  3. 133
      libraries/AP_GPS/AP_GPS_UBLOX.cpp
  4. 17
      libraries/AP_GPS/AP_GPS_UBLOX.h
  5. 9
      libraries/AP_GPS/GPS_Backend.h

9
libraries/AP_GPS/AP_GPS.cpp
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@ -290,6 +290,15 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = { @@ -290,6 +290,15 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
AP_GROUPINFO("BLEND_TC", 21, AP_GPS, _blend_tc, 10.0f),
#endif
#if GPS_UBLOX_MOVING_BASELINE
// @Param: DRV_OPTIONS
// @DisplayName: driver options
// @Description: Additional backend specific options
// @Bitmask: 0:Use UART2 for moving baseline on ublox
// @User: Advanced
AP_GROUPINFO("DRV_OPTIONS", 22, AP_GPS, _driver_options, 0),
#endif
AP_GROUPEND
};

1
libraries/AP_GPS/AP_GPS.h
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@ -493,6 +493,7 @@ protected: @@ -493,6 +493,7 @@ protected:
AP_Int16 _delay_ms[GPS_MAX_RECEIVERS];
AP_Int8 _blend_mask;
AP_Float _blend_tc;
AP_Int16 _driver_options;
uint32_t _log_gps_bit = -1;

133
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -38,12 +38,6 @@ @@ -38,12 +38,6 @@
#define UBLOX_FAKE_3DLOCK 0
#define CONFIGURE_PPS_PIN 0
// select if we will do moving baseline with RTCM between UART2 on
// each receiver (directly between receivers) or via UART1 and the
// flight controller. Going via the flight controller takes more CPU
// and memory, but is more convenient for wiring
#define RTK_MB_UART2 0
// this is number of epochs per output. A higher value will reduce
// the uart bandwidth needed and allow for higher latency
#define RTK_MB_RTCM_RATE 1
@ -91,7 +85,7 @@ AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UART @@ -91,7 +85,7 @@ AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UART
_unconfigured_messages |= CONFIG_TP5;
#endif
if (role == AP_GPS::GPS_ROLE_MB_BASE) {
if (role == AP_GPS::GPS_ROLE_MB_BASE && !mb_use_uart2()) {
rtcm3_parser = new RTCM3_Parser;
if (rtcm3_parser == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "u-blox %d: failed RTCMv3 parser allocation", state.instance + 1);
@ -115,8 +109,31 @@ AP_GPS_UBLOX::~AP_GPS_UBLOX() @@ -115,8 +109,31 @@ AP_GPS_UBLOX::~AP_GPS_UBLOX()
config for F9 GPS in moving baseline base role
See ZED-F9P integration manual section 3.1.5.6.1
*/
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base[] {
#if RTK_MB_UART2 // RTCM3 on UART2
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base_uart1[] {
{ ConfigKey::CFG_UART2_ENABLED, 0},
{ ConfigKey::CFG_UART1OUTPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 0},
{ ConfigKey::CFG_UART2OUTPROT_UBX, 0},
{ ConfigKey::CFG_UART2OUTPROT_NMEA, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART2, 0},
};
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base_uart2[] {
{ ConfigKey::CFG_UART2_ENABLED, 1},
{ ConfigKey::CFG_UART2_BAUDRATE, 460800},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 1},
@ -140,21 +157,31 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base[] { @@ -140,21 +157,31 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base[] {
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART1, 0},
#else // RTCM3 on UART1
};
/*
config for F9 GPS in moving baseline rover role
See ZED-F9P integration manual section 3.1.5.6.1.
Note that we list the RTCM msg types as 0 to prevent getting RTCM
data from a GPS previously configured as a base
*/
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Rover_uart1[] {
{ ConfigKey::CFG_UART2_ENABLED, 0},
{ ConfigKey::CFG_UART1OUTPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 0},
{ ConfigKey::CFG_UART2OUTPROT_UBX, 0},
{ ConfigKey::CFG_UART2OUTPROT_NMEA, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 0},
{ ConfigKey::CFG_UART1INPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART2INPROT_RTCM3X, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 1},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART2, 0},
@ -162,17 +189,9 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base[] { @@ -162,17 +189,9 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base[] {
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART2, 0},
#endif
};
/*
config for F9 GPS in moving baseline rover role
See ZED-F9P integration manual section 3.1.5.6.1.
Note that we list the RTCM msg types as 0 to prevent getting RTCM
data from a GPS previously configured as a base
*/
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Rover[] {
#if RTK_MB_UART2 // RTCM3 on UART2
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Rover_uart2[] {
{ ConfigKey::CFG_UART2_ENABLED, 1},
{ ConfigKey::CFG_UART2_BAUDRATE, 460800},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 0},
@ -196,32 +215,9 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Rover[] { @@ -196,32 +215,9 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Rover[] {
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART1, 0},
#else // RTCM3 on UART1
{ ConfigKey::CFG_UART2_ENABLED, 0},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 0},
{ ConfigKey::CFG_UART2OUTPROT_UBX, 0},
{ ConfigKey::CFG_UART2OUTPROT_NMEA, 0},
{ ConfigKey::CFG_UART1INPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART2INPROT_RTCM3X, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 1},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART2, 0},
#endif
};
void
AP_GPS_UBLOX::_request_next_config(void)
{
@ -372,15 +368,23 @@ AP_GPS_UBLOX::_request_next_config(void) @@ -372,15 +368,23 @@ AP_GPS_UBLOX::_request_next_config(void)
break;
case STEP_RTK_MOVBASE:
if (supports_F9_config()) {
static_assert(sizeof(active_config.done_mask)*8 >= ARRAY_SIZE(config_MB_Base), "done_mask too small, base");
static_assert(sizeof(active_config.done_mask)*8 >= ARRAY_SIZE(config_MB_Rover), "done_mask too small, rover");
if (role == AP_GPS::GPS_ROLE_MB_BASE &&
!_configure_config_set(config_MB_Base, ARRAY_SIZE(config_MB_Base), CONFIG_RTK_MOVBASE)) {
_next_message--;
static_assert(sizeof(active_config.done_mask)*8 >= ARRAY_SIZE(config_MB_Base_uart1), "done_mask too small, base1");
static_assert(sizeof(active_config.done_mask)*8 >= ARRAY_SIZE(config_MB_Base_uart2), "done_mask too small, base2");
static_assert(sizeof(active_config.done_mask)*8 >= ARRAY_SIZE(config_MB_Rover_uart1), "done_mask too small, rover1");
static_assert(sizeof(active_config.done_mask)*8 >= ARRAY_SIZE(config_MB_Rover_uart2), "done_mask too small, rover2");
if (role == AP_GPS::GPS_ROLE_MB_BASE) {
const config_list *list = mb_use_uart2()?config_MB_Base_uart2:config_MB_Base_uart1;
uint8_t list_length = mb_use_uart2()?ARRAY_SIZE(config_MB_Base_uart2):ARRAY_SIZE(config_MB_Base_uart1);
if (!_configure_config_set(list, list_length, CONFIG_RTK_MOVBASE)) {
_next_message--;
}
}
if (role == AP_GPS::GPS_ROLE_MB_ROVER &&
!_configure_config_set(config_MB_Rover, ARRAY_SIZE(config_MB_Rover), CONFIG_RTK_MOVBASE)) {
_next_message--;
if (role == AP_GPS::GPS_ROLE_MB_ROVER) {
const config_list *list = mb_use_uart2()?config_MB_Rover_uart2:config_MB_Rover_uart1;
uint8_t list_length = mb_use_uart2()?ARRAY_SIZE(config_MB_Rover_uart2):ARRAY_SIZE(config_MB_Rover_uart1);
if (!_configure_config_set(list, list_length, CONFIG_RTK_MOVBASE)) {
_next_message--;
}
}
}
break;
@ -1519,15 +1523,14 @@ AP_GPS_UBLOX::_parse_gps(void) @@ -1519,15 +1523,14 @@ AP_GPS_UBLOX::_parse_gps(void)
return false;
}
if (role == AP_GPS::GPS_ROLE_MB_ROVER) {
if (state.have_gps_yaw) {
// when we are a rover we want to ensure we have both the new
// PVT and the new RELPOSNED message so that we give a
// consistent view
if (state.have_gps_yaw && AP_HAL::millis() - _last_relposned_ms > 400) {
if (AP_HAL::millis() - _last_relposned_ms > 400) {
// we have stopped receiving RELPOSNED messages, disable yaw reporting
state.have_gps_yaw = false;
}
if (state.have_gps_yaw && _last_relposned_itow != _last_pvt_itow) {
} else if (_last_relposned_itow != _last_pvt_itow) {
// wait until ITOW matches
return false;
}
@ -1918,7 +1921,7 @@ bool AP_GPS_UBLOX::is_healthy(void) const @@ -1918,7 +1921,7 @@ bool AP_GPS_UBLOX::is_healthy(void) const
// need F9 or above for moving baseline
return false;
}
if (role == AP_GPS::GPS_ROLE_MB_BASE && rtcm3_parser == nullptr) {
if (role == AP_GPS::GPS_ROLE_MB_BASE && rtcm3_parser == nullptr && !mb_use_uart2()) {
// we haven't initialised RTCMv3 parser
return false;
}

17
libraries/AP_GPS/AP_GPS_UBLOX.h
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@ -656,6 +656,11 @@ private: @@ -656,6 +656,11 @@ private:
STEP_LAST
};
// GPS_DRV_OPTIONS bits
enum class DRV_OPTIONS {
MB_USE_UART2 = 1U<<0,
};
// Packet checksum accumulators
uint8_t _ck_a;
uint8_t _ck_b;
@ -734,6 +739,10 @@ private: @@ -734,6 +739,10 @@ private:
return (uint8_t)(ubx_msg + (state.instance * UBX_MSG_TYPES));
}
// see if we should use uart2 for moving baseline config
bool mb_use_uart2(void) const {
return (driver_options() & unsigned(DRV_OPTIONS::MB_USE_UART2))?true:false;
}
// structure for list of config key/value pairs for
// specific configurations
@ -757,11 +766,13 @@ private: @@ -757,11 +766,13 @@ private:
bool supports_F9_config(void) const;
// config for moving baseline base
static const config_list config_MB_Base[];
static const config_list config_MB_Base_uart1[];
static const config_list config_MB_Base_uart2[];
// config for moving baseline rover
static const config_list config_MB_Rover[];
static const config_list config_MB_Rover_uart1[];
static const config_list config_MB_Rover_uart2[];
// status of active configuration for a role
struct {
const config_list *list;

9
libraries/AP_GPS/GPS_Backend.h
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@ -102,7 +102,14 @@ protected: @@ -102,7 +102,14 @@ protected:
void set_uart_timestamp(uint16_t nbytes);
void check_new_itow(uint32_t itow, uint32_t msg_length);
/*
access to driver option bits
*/
uint16_t driver_options(void) const {
return uint16_t(gps._driver_options.get());
}
private:
// itow from previous message
uint32_t _last_itow;

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